Added tiny tool cansend and a library to parse ASCII CAN frames (e.g. from

the command line) that are defined in one concatenated string. This is a requirement for the comming command line tool 'bcmsend' that allows to send more than one CAN frame at a time.
2026-09-20 23:12:09 +02:00 · 2006-10-30 13:14:36 +00:00
parent 063c62c665
commit 99a3bba852
4 changed files with 362 additions and 1 deletions
@@ -0,0 +1,154 @@
+/*
+ *  $Id$
+ */
+
+/*
+ * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
+ *
+ * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions, the following disclaimer and
+ *    the referenced file 'COPYING'.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2 as distributed in the 'COPYING'
+ * file from the main directory of the linux kernel source.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <linux/can.h>
+
+#define CANID_DELIM '#'
+#define DATA_SEPERATOR '.'
+
+static int asc2nibble(char c){
+
+    if ((c >= '0') && (c <= '9'))
+	return c - '0';
+
+    if ((c >= 'A') && (c <= 'F'))
+	return c - 'A' + 10;
+
+    if ((c >= 'a') && (c <= 'f'))
+	return c - 'a' + 10;
+
+    return 16; /* error */
+}
+
+int parse_canframe(char *cs, struct can_frame *cf){
+    /* documentation see lib.h */
+
+    int i, idx, dlc, len, tmp;
+
+    len = strlen(cs);
+    //printf("'%s' len %d\n", cs, len);
+
+    memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+
+    if (len < 4)
+	return 1;
+
+    if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
+	return 1;
+
+    if (cs[8] == CANID_DELIM) {
+
+	idx = 9;
+	cf->can_id = CAN_EFF_FLAG;
+	for (i=0; i<8; i++){
+	    if ((tmp = asc2nibble(cs[i])) > 0x0F)
+		return 1;
+	    cf->can_id |= (tmp << (7-i)*4);
+	}
+
+    } else {
+
+	idx = 4;
+	for (i=0; i<3; i++){
+	    if ((tmp = asc2nibble(cs[i])) > 0x0F)
+		return 1;
+	    cf->can_id |= (tmp << (2-i)*4);
+	}
+    }
+
+    if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
+	cf->can_id |= CAN_RTR_FLAG;
+	return 0;
+    }
+
+    for (i=0, dlc=0; i<8; i++){
+
+	if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
+	    idx++;
+
+	if(idx >= len) /* end of string => end of data */
+	    break;
+
+	if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+	    return 1;
+	cf->data[i] = (tmp << 4);
+	if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+	    return 1;
+	cf->data[i] |= tmp;
+	dlc++;
+    }
+
+    cf->can_dlc = dlc;
+
+    return 0;
+}
+
+void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol){
+    /* documentation see lib.h */
+
+    int i;
+
+    if (cf->can_id & CAN_EFF_FLAG)
+	fprintf(stream, "%8X  ", cf->can_id & CAN_EFF_MASK);
+    else
+	fprintf(stream, "%3X  ", cf->can_id & CAN_SFF_MASK);
+
+    fprintf(stream, "[%d] ", cf->can_dlc);
+
+    for (i = 0; i < cf->can_dlc; i++) {
+	fprintf(stream, "%02X ", cf->data[i]);
+    }
+    if (cf->can_id & CAN_RTR_FLAG)
+	fprintf(stream, "remote request");
+    if (eol)
+	fprintf(stream, "%s", eol);
+}
+